KR102528034B1 - Smart divot repair system and method - Google Patents

Abstract

The present invention relates to a smart divot repair system and method capable of detecting a divot in a golf course image taken by an unmanned aerial vehicle and repairing the divot by moving an unmanned mobile vehicle loaded with sand for divot repair to the position of the detected divot. , The present invention may include an unmanned aerial vehicle for filming a golf course, an unmanned mobile vehicle for repairing divots, and a management server that detects divots by analyzing images captured by the unmanned aerial vehicle and calculates a repair path for the detected divots. can

Description

Smart divot repair system and method {Smart divot repair system and method}

The present invention relates to a smart divot repair system, and more particularly, detects a divot in a golf course image taken by an unmanned aerial vehicle, and moves an unmanned mobile vehicle loaded with sand for repairing the divot to the location of the detected divot to repair the divot. It relates to a smart divot repair system and method.

In general, a drone is an airplane or helicopter-shaped aircraft that flies along a predetermined path through wireless communication or is controlled by a person with the naked eye. , Gradually, along with the development of wireless technology, it was developed as a reconnaissance aircraft, and was also used for reconnaissance and surveillance by penetrating deep into the enemy's inland.

These drones have recently been used for transportation purposes, and the range of their use is gradually widening. Depending on the purpose of use, a variety of products with various sizes and performance are being developed. It is becoming.

On the other hand, on the teeing ground, fairway, and putting green of the golf course, when a golfer hits a ball on the green, the head of the golf club hits the green and soil, or the golfer hits the green. The groove formed when falling on top is called a divot.

Since divot marks cause dissatisfaction of golfers during the game, repair work should be completed as quickly as possible. In fact, on a fairway with many divot marks, golfer's driver shots often enter the divot marks, which hurts the golfer's standards, and this is a major factor in reducing the number of golf course users.

Korean Patent Registration No. 10-1480074 proposes a technology related to a device for repairing a divot. The registered patent has a disadvantage in that it takes a long time to repair the divot when the area is large and divots are generated in various locations because manpower must be used, and the cost of hiring manpower is increased because maintenance manpower must be present at all times.

Republic of Korea Patent Registration No. 10-1480074 (2014.12.31)

The problem to be solved by the present invention is a smart divot repair system capable of repairing a divot by detecting a divot in a golf course image taken by an unmanned aerial vehicle and moving an unmanned vehicle loaded with sand for divot repair to the location of the detected divot. and to provide a method.

A smart divot repair system according to an embodiment of the present invention includes an unmanned aerial vehicle for photographing a golf course, an unmanned vehicle for loading and unloading sand for divot repair, and a photographed image of the unmanned aerial vehicle. An analyzing module that analyzes and detects divots, a mapping module that displays the detected divots on the digital map of the golf course, A control server including a computing module that calculates a repair path of the displayed divots based on the amount of sand for repair and battery capacity, and a communication module that transmits the calculated repair path to the unmanned mobile vehicle (management server).

The unmanned vehicle includes a container for storing sand for divot repair, an unloader for unloading sand from the container, a GPS module for calculating a current location, and capturing an image near a target divot. A camera module that starts, a detecting module that searches for the target divot in a captured image, and a driving system so that the unloader is properly positioned on the detected target divot by moving according to a pre-input repair path ( driving system) may be included.

The unmanned mobile vehicle may further include a reporting module that transmits an identifier of the target divot, which has been repaired, to the control server after sand is unloaded into the target divot.

The unmanned vehicle may be a wheel-based ground mobile vehicle.

The unmanned vehicle may be a propeller-based unmanned aerial vehicle.

At least two unmanned vehicles are provided, and the computing module of the control server, based on the number of divots in the area to be repaired, the amount of sand loaded for each unmanned vehicle, and the battery capacity, prevents the same divot from being repeatedly repaired. The maintenance route of the unmanned mobile vehicle can be calculated.

A smart divot repair system according to an embodiment of the present invention is equipped with an unmanned aerial vehicle for photographing a golf course, an unmanned vehicle for loading and unloading sand for divot repair, and the unmanned vehicle, An analyzing module for detecting divots by analyzing images taken by a carrying station and an unmanned aerial vehicle that moves near a divot repair target area and is connected to a mounted unmanned vehicle through short-range wireless communication; A mapping module for displaying the detected divots on the digital map of the golf course, and the displayed divots based on the starting position of the unmanned vehicle, the amount of sand for maintenance loaded in the unmanned vehicle, and the battery capacity. It may include a management server including a computing module that calculates a repair route and a communication module that transmits the calculated repair route to the transportation station.

The unmanned vehicle includes a container for storing sand for divot repair, an unloader for unloading sand from the container, a GPS module for calculating a current location, and capturing an image near a target divot. A camera module that initiates, a detecting module that finds the target divot in a captured image, moves according to the repair path received from the transport station, and the unloader is positioned on the detected target divot. It may include a controller (controller) for controlling the driving system (driving system) so as to.

The unmanned mobile vehicle may further include a reporting module for transmitting an identifier of the target divot, which has been repaired, to the control server through the transport station after sand is unloaded into the target divot.

The unmanned vehicle may be a wheel-based ground mobile vehicle.

The unmanned vehicle may be a propeller-based unmanned aerial vehicle.

At least two unmanned vehicles are provided, and the computing module of the control server, based on the number of divots in the area to be repaired, the amount of sand loaded for each unmanned vehicle, and the battery capacity, prevents the same divot from being repeatedly repaired. The maintenance route of the unmanned mobile vehicle can be calculated.

In the divot compensation control method of a management server according to an embodiment of the present invention, the step of detecting divots by analyzing a captured image of a golf course by an analyzing module, and a mapping module Displaying the detected divots on the digital map of the golf course, and a computing module, based on the starting position of the unmanned vehicle, the amount of repair sand loaded in the unmanned vehicle, and the battery capacity, It may include calculating the payoff path of the displayed divots.

The method may further include transmitting, by a communication module, the calculated repair path to the unmanned mobile vehicle.

The method may further include transmitting, by a communication module, the calculated maintenance route to a transportation station equipped with the unmanned mobile vehicle, and the unmanned mobile vehicle and the transportation station may be connected through short-range mobile communication.

The unmanned vehicle may be a wheel-based ground vehicle or a propeller-based unmanned aerial vehicle.

At least two unmanned vehicles are provided, and the calculating of the repair path includes the number of divots in the area to be repaired, the amount of sand loaded for each unmanned vehicle, and the battery capacity so that the same divot is not repeatedly repaired. The repair path of the mobile body can be calculated.

According to an embodiment of the present invention, a divot may be detected in a golf course image taken by an unmanned aerial vehicle, and an unmanned mobile vehicle loaded with sand for repairing the divot may move to the position of the detected divot and repair the divot.

1 is a schematic diagram of a smart divot maintenance system according to Embodiment 1;
2 is a block diagram of the system illustrated in FIG. 1;
3 is a schematic diagram of a smart divot maintenance system according to Embodiment 1;
Figure 4 is a block diagram of the system illustrated in Figure 3;
5 is a flowchart of a smart divot repair method according to a third embodiment.
6 is a block diagram showing the configuration of a control server according to the third embodiment.
7 is a flowchart of a smart divot repair method according to a fourth embodiment.

Hereinafter, several embodiments of the present invention will be described in detail using drawings. However, this is not intended to limit the present invention to any specific embodiment, and it should be understood that all transformations, equivalents and substitutions including the technical idea of the present invention are included in the scope of the present invention. do.

In this specification, singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, when a component is described as “having” or “comprises” a certain sub-configuration, it does not exclude other configurations unless otherwise stated, but further includes other configurations. This means that it may contain

In this specification, the terms "...unit", "...module" and "component" mean a unit that processes at least one function or operation, and includes hardware, software or It may be implemented as a combination of hardware and software.

1 is a schematic diagram of a smart divot maintenance system according to Embodiment 1, and FIG. 2 is a block diagram of the system illustrated in FIG.

1 and 2, the system of the first embodiment detects a divot in a golf course image taken by an unmanned aerial vehicle 100, and an unmanned mobile vehicle 200 for divot repair moves to the location of the detected divot and moves to the divot. repair the

The system of Embodiment 1 includes an unmanned aerial vehicle 100, an unmanned mobile vehicle 200, and a control server 300.

The unmanned aerial vehicle 100 is a device that flies along a predetermined path through wireless communication or that a person directly adjusts the flight with the naked eye. The unmanned aerial vehicle 100 photographs the golf course through a built-in camera while flying over the golf course.

The camera mounted on the unmanned aerial vehicle 100 may be a high resolution camera, or may be an RGB camera and a multispectral camera.

An RGB camera acquires RGB image data through an RGB (Red Green Blue) sensor. The RGB method is a method of expressing a video or image by mixing red, green, and blue. An RGB image captured by an RGB camera has a high resolution and is easy to check with the naked eye.

A multi-spectral camera acquires a multi-spectral image by photographing a golf course using a multi-spectral sensor. The multi-spectral image taken by the multi-spectral camera 110 extracts image data within various wavelengths and allows the human eye to see what cannot be seen. can be mainly used.

Multispectral images generally acquire images from less than 10 discontinuous bands in the visible and mid-infrared regions, and generate independent data corresponding to each pixel because the inverse stored in the data is in a separate form.

Multispectral cameras have different images that can be extracted for each spectral band. For example, in the blue region (450 to 510 nm), the atmosphere or deep water of 50 m is emphasized, and in the green region (530 to 590 nm), vegetation such as trees is emphasized. (vegetation) is emphasized, and in the red area (640-670), it can be used to distinguish the boundary with the tree.

For the above reasons, the multispectral image acquired by the multispectral camera 110 can easily find a divot object that cannot be found in the RGB image. For example, since multispectral imaging extracts image data within a range of wavelengths, color differences are clearer than RGB images, and thus divot objects that cannot be detected in RGB images taken in small divots or shaded areas can be detected. It is possible to detect it in multispectral images. In addition, even if the multispectral image is not a divot object, it is possible to detect a point having a poor vegetation index (for example, diseased grass or dead grass), so that maintenance can be facilitated.

Unlike its name, the unmanned aerial vehicle 100 may include any one of a manned flight vehicle, a satellite, a hot air balloon, and a CCTV. That is, the unmanned aerial vehicle 100, 100 may be replaced with any device as long as it can photograph the golf course at a certain height.

The unmanned mobile body 200 is a device used to repair the divot by loading sand for repairing the divot, moving to a position where the divot is generated, and unloading the loaded sand for repair. The unmanned vehicle 200 may be driven by an electric device using a battery, or may be driven by using an engine device using fossil fuel, hydrogen fuel, and the like. The unmanned mobile vehicle 200 of Embodiment 1 will be described using a battery as an example.

At least one unmanned mobile vehicle 200 may be provided, and one unmanned mobile vehicle 200 may be operated or two or more unmanned mobile vehicles 200 may be operated according to the number of target divots to be repaired.

The unmanned mobile vehicle 200 includes a loading box 210, an unloader 220, a GPS module 230, a camera module 240, a detection module 250 and a controller 260, and further includes a reporting module 270. include

A loading box 210 (container) is provided in the unmanned vehicle 200 and is loaded with sand for repairing the divot. The size of the loading box 210 may vary depending on the size of the unmanned mobile vehicle 200, and when at least two unmanned mobile vehicles 200 of various sizes are provided, the size of the loading box 210 corresponds to the size of the unmanned mobile vehicle 200. may vary. In this case, since the loading capacity of repair sand varies according to the number of target divots detected in the golf course, the operating unmanned mobile vehicle 200 may be determined according to the number of target divots.

The unloader 220 (unloader) is a dedicated mechanical device for unloading the sand for maintenance loaded in the loading box 210 to the divot generation position. The unloader 220 may be controlled by the controller 260 .

The GPS module 230 (GPS module) calculates the current location. The GPS module 230 is used to route the unmanned vehicle 200 to a location where a divot is generated (ie, a target divot).

When the unmanned mobile body 200 arrives near the target divot, the camera module 240 starts capturing an image near the target divot. The camera module 240 transmits the captured image to the detection module 250.

The detection module 250 detects a target divot in an image captured by the camera module 240 . For example, the detection module 250 receives the image and coordinates of the target divot from the control server 300, compares the current position of the unmanned mobile vehicle 200 with the image captured by the camera module 240, and determines the target divot. detect

The controller 260 operates a driving system to move the unmanned vehicle 200 according to a pre-input maintenance path. For example, the maintenance route is route information for the unmanned mobile vehicle 200 to move in an optimal course to the target divot, and the controller 260 receives the maintenance route from the control server 300 .

When the unmanned movable body 200 arrives at the target divot, the controller 260 adjusts the direction of the unmanned movable body 200 so that the unloader 220 is positioned on the target divot (ie, facing the divot).

After sand is unloaded into the target divot, the reporting module 270 transmits the identifier of the target divot that has been repaired to the control server 300 . In addition, the reporting module 270 receives an image of the target divot that has been repaired from the camera module 240 and transmits it to the control server 300 .

The mapping module 320 of the control server 300, which receives the identifier of the target divot for which repair is completed from the reporting module 270, corrects the divots detected on the digital map of the golf course.

The unmanned mobile vehicle 200 described above may be implemented in the form of a wheel-based ground vehicle or a propeller-based unmanned aerial vehicle 100. When the unmanned aerial vehicle 200 is implemented in the form of an unmanned aerial vehicle (eg, a drone), it may be built separately from the unmanned aerial vehicle 100 for filming the golf course, but the unmanned aerial vehicle 100 for filming the golf course It may also be implemented to perform a shooting function and a divot repair function.

The control server 300 analyzes the captured image of the unmanned aerial vehicle 100 to detect divots, and calculates a path from the unmanned aerial vehicle 200 to the target divot.

The control server 300 includes an analysis module 310 , a mapping module 320 , a computing module 330 and a communication module 340 .

The analyzing module 310 detects divots by analyzing the captured image of the golf course transmitted from the unmanned aerial vehicle 100 . For example, the analysis module 310 may detect divots in an image using an image analysis algorithm, or may detect divots in an image by learning a divot detection function through machine learning or deep learning.

The mapping module 320 displays the target divot(s) detected by the analysis module 310 on the digital map where the golf course is mapped. For example, the mapping module 320 may display the location of a target divot on a digital map based on coordinates since there is no address such as a land number in a golf course. The target divot displayed in the mapping module 320 is used to calculate a maintenance path along which the unmanned mobile vehicle 200 moves to the target divot.

The computing module 330 calculates the repair path of the divots displayed on the digital map based on the starting position of the unmanned mobile vehicle 200, the amount of repair sand loaded in the loading box 210 of the unmanned mobile vehicle 200, and the battery capacity. do.

For example, the amount of sand may determine the number of target divots that can be repaired by the unmanned mobile vehicle 200 . The computing module 330 detects three divots, and when the amount of sand for repair loaded in the unmanned mobile vehicle 200 is greater than the amount used to repair the three target divots, one unmanned mobile vehicle 200 is sent to all targets. Calculate the repair path via the divot.

If the amount of repair sand loaded into the unmanned mobile vehicle 200 is less than the amount used to repair the target divots, a repair path is calculated so that only repairable target divots pass through, and the remaining target divots are transferred to other unmanned mobile vehicles 200. Calculate the repair path to pass through. At this time, the computing module 330 calculates the maintenance path of each unmanned mobile vehicle 200 so as not to repeatedly repair the same divot.

The battery capacity can determine the moving distance of the unmanned mobile vehicle 200, that is, the distance that can pass through target divots. The computing module 330 repairs the unmanned mobile vehicle 200 to pass through all the target divots when three divots are detected and the capacity of the battery mounted in the unmanned mobile vehicle 200 can pass through all three target divots. calculate the path

If all of the target divots cannot pass through due to the capacity of the battery mounted on the unmanned mobile vehicle 200, a repair path is calculated so that only the movable target divots can pass through, and the remaining target divots are repaired so that other unmanned mobile vehicles 200 pass through. calculate the path At this time, the computing module 330 calculates the maintenance path of each unmanned mobile vehicle 200 so as not to repeatedly repair the same divot.

The computing module 330 differently calculates the movable distance of the unmanned mobile vehicle 200 in consideration of the remaining battery capacity and the weight of the sand for repair. For example, if the unmanned vehicle 200 has the same battery capacity, the movable distance when 3 kg of sand for repair is loaded and the movable distance when 5 kg of sand for repair are loaded are different. and calculates a repair path via target divots based on the calculated movable distance.

The communication module 340 transmits the maintenance path calculated by the computing module 330 to the unmanned mobile vehicle 200 .

The communication module 340 is a mobile communication protocol such as low power wide area (LPWA), 2G, 3G, 4G, and 5G, wireless broadband (Wibro), world interoperability for microwave access (Wimax), and high Speed Downlink Packet Access) and other mobile communication protocols may be supported. The communication method of the communication module 340 is not limited thereto.

3 is a schematic diagram of a smart divot maintenance system according to Embodiment 1, and FIG. 4 is a block diagram of the system illustrated in FIG. 3 .

3 and 4, the system of the second embodiment detects a divot in a golf course image taken by an unmanned aerial vehicle 400, and the transport station 500 detects an unmanned mobile vehicle 600 for divot repair. When transported to the position of , the unmanned mobile body 600 repairs the divot.

The unmanned aerial vehicle 400, the unmanned mobile vehicle 600, and the control server 700 of the second embodiment are the same as the unmanned aerial vehicle 100, the unmanned mobile vehicle 200, and the control server 300 of the first embodiment, and the transportation station 500 ) is explained.

In the transport station 500 (carrying station), a mounting space (not shown) for mounting the unmanned mobile body 600 is formed. The transport station 500 mounts at least one unmanned mobile vehicle 600 in a loading space. A charging device for charging a battery mounted on the unmanned vehicle 600 may be installed in the transportation station 500 . For example, when the unmanned mobile vehicle 600 is driven by fuel, a fuel charging device for recharging fuel of the unmanned mobile vehicle 600 may be installed in the transportation station 500 .

The transportation station 500 may be implemented as one of a vehicle, a large drone, and a cart.

The transportation station 500 receives the repair path of the divots from the communication module 740 of the control server 700 and transports the unmanned vehicle 600 to a place adjacent to the divot repair area where the target divots are located.

When the transportation station 500 arrives at the divot repair target area, the installed safety devices are released so that the at least one unmanned mobile vehicle 600 can move toward the target divot.

The transportation station 500 is connected to the unmanned mobile vehicle 600 through short-range wireless communication. The transportation station 500 transmits the repair path of the target divot received from the control server 700 to the unmanned mobile vehicles 600 through short-range wireless communication.

A manager may board the transportation station 500, and a signal such as a return command of the unmanned mobile vehicles 600 to the transportation station 500 may be transmitted to the unmanned mobile vehicle 600 before the maintenance of the divot is completed by the manager. there is.

5 is a flowchart of a smart divot repair method according to the third embodiment, and FIG. 6 is a block diagram showing the configuration of the control server 800 according to the third embodiment.

5 and 6, the method of the third embodiment includes detecting divots (S110), displaying divots on the digital map of the golf course (S120), and calculating payoff paths of the displayed divots (S120). S130), and a step of transmitting a repair path to the unmanned mobile vehicle (S140).

Since the unmanned aerial vehicle and the unmanned mobile vehicle of Embodiment 3 are the same as the unmanned aerial vehicle 100 and the unmanned mobile vehicle 200 of Embodiment 1, duplicate descriptions are omitted.

In the step of detecting divots ( S110 ), the analyzing module 810 detects divots by analyzing the captured image of the golf course transmitted from the unmanned aerial vehicle. For example, the analysis module 810 may detect divots in an image using an image analysis algorithm, or may detect divots in an image by learning a divot detection function through machine learning or deep learning.

The mapping module 820 of the step of displaying the divots on the digital map of the golf course (S120) places the target divot(s) detected by the analysis module 810 on the digital map where the golf course is mapped. display on For example, the mapping module 820 may display the location of a target divot on a digital map based on coordinates since there is no address such as a land number in a golf course. The target divot displayed in the mapping module 820 is used to calculate a repair path for the unmanned mobile vehicle to move to the target divot.

The computing module 830 in the step of calculating the repair path of the displayed divots (S130) determines the number of divots displayed on the digital map based on the starting position of the unmanned vehicle, the amount of repair sand loaded in the loading box of the unmanned vehicle, and the battery capacity. Calculate the repair path.

For example, the amount of sand may determine the number of target divots that can be repaired by the unmanned vehicle. The computing module 830 configures a repair path so that one unmanned vehicle passes through all target divots when there are three detected divots and the amount of repair sand loaded in the unmanned vehicle is greater than the amount used to repair the three target divots. yields

If the amount of repair sand loaded into the unmanned mobile vehicle is less than the amount used to repair the target divots, a repair path is calculated so that the repairable target divots pass through, and the remaining target divots are a repair path for other unmanned mobile vehicles to pass through. yield At this time, the computing module 830 calculates the maintenance path of each unmanned mobile vehicle so as not to repeatedly repair the same divot.

The battery capacity may determine the moving distance of the unmanned vehicle, that is, the distance at which it can pass through target divots. The computing module 830 calculates a repair path so that the unmanned vehicle passes through all the target divots when there are three detected divots and the battery capacity of the unmanned vehicle can pass through all three target divots.

If it is impossible to pass through all target divots due to the capacity of the battery mounted in the unmanned mobile vehicle, a repair path is calculated so that only the movable target divots pass through, and the remaining target divots are calculated to allow other unmanned mobile vehicles to pass through. At this time, the computing module 830 calculates the maintenance path of each unmanned mobile vehicle so as not to repeatedly repair the same divot.

The computing module 830 differently calculates the movable distance of the unmanned vehicle in consideration of the remaining battery capacity and the weight of the sand for repair. For example, if the unmanned vehicle has the same battery capacity, the movable distance when 3 kg of sand for repair is loaded and the movable distance when 5 kg of sand for repair are loaded are calculated differently, Based on the calculated movable distance, a repair path is calculated to pass through the target divots.

In the step of transmitting the maintenance path to the unmanned mobile vehicle (S140), the communication module 840 transmits the maintenance path calculated by the computing module 830 to the unmanned mobile vehicle.

The communication module 840 is a mobile communication protocol such as low power wide area (LPWA), 2G, 3G, 4G, and 5G, wireless broadband (Wibro), world interoperability for microwave access (Wimax), and high Speed Downlink Packet Access) and other mobile communication protocols may be supported. The communication method of the communication module 840 is not limited thereto.

7 is a flowchart of a smart divot repair method according to a fourth embodiment.

In Example 4, since the transportation station transports the unmanned mobile vehicle, the calculated maintenance route is transmitted to the transportation station.

Since the analysis module, mapping module, and computing module of Example 4 are the same as those of Example 3, duplicate descriptions will be omitted. Detecting the divots of Example 4 (S210), displaying the divots on the digital map of the golf course (S220), and calculating payoff paths of the displayed divots (S230) are the divots of Example 3. Since the step of detecting (S110), the step of displaying divots on the digital map of the golf course (S120), and the step of calculating the repair path of the displayed divots (S130) are the same, redundant descriptions will be omitted, and the repair route will be described above. The step (S240) of transmitting to the transportation station equipped with the unmanned mobile vehicle will be described.

Since the transportation station of Example 4 is the same as that of Example 2, redundant description is omitted.

In the step of transmitting the maintenance route to the transportation station equipped with the unmanned mobile vehicle (S240), the communication module transmits the calculated maintenance route to the transportation station equipped with the unmanned mobile vehicle.

The communication module is a mobile communication protocol such as Low Power Wide Area (LPWA), 2G, 3G, 4G, and 5G, Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access) and other mobile communication protocols may be supported. The communication method of the communication module is not limited to this. The communication module may communicate with the transport station via such a communication protocol.

Although the above has been described with reference to several embodiments of the present invention, those skilled in the art can make the present invention within the scope not departing from the spirit and scope of the present invention described in the claims below. It will be appreciated that various modifications and variations may be made.

100: unmanned aerial vehicle
200: unmanned mobile vehicle
210: loading box
220: unloader
230: GPS module
240: camera module
250: detection module
260: controller
270: reporting module
300: control server
310: analysis module
320: mapping module
330: computing module
340: communication module

Claims (17)

an unmanned aerial vehicle photographing a golf course;
An unmanned vehicle for loading and unloading sand for divot repair; and
An analyzing module for detecting divots by analyzing the captured image of the golf course, a mapping module for displaying the detected divots on the digital map of the golf course, and the starting position of the unmanned vehicle. A management server including a computing module that calculates a maintenance path from 0 to the displayed divot and a communication module that transmits the calculated maintenance path to the unmanned mobile vehicle,
The unmanned mobile vehicle is provided with at least two or more,
The computing module of the control server,
Based on the number of divots in the area to be repaired, the amount of sand loaded for each unmanned vehicle, and the battery capacity, a repair path for each unmanned vehicle is calculated so as not to repeatedly repair the same divot. According to claim 1,
The unmanned mobile vehicle,
A container for storing sand for divot repair, an unloader for unloading sand from the container, a GPS module for calculating the current position, and a camera module for starting image capture near the target divot ( camera module), a detecting module that searches for the target divot in the captured image, and controls a driving system so that the unloader moves along a pre-input repair path and positions the unloader on the detected target divot. A smart divot maintenance system including a controller that According to claim 2,
The unmanned mobile vehicle,
and a reporting module configured to transmit an identifier of the target divot, which has been repaired, to the control server after sand is unloaded into the target divot. According to claim 2,
The unmanned vehicle is a smart divot repair system, characterized in that the wheel (wheel) based ground mobile vehicle. According to claim 2,
The unmanned vehicle is a smart divot repair system, characterized in that the propeller-based unmanned aerial vehicle. delete An unmanned vehicle for loading and unloading sand for divot repair;
a carrying station that mounts the unmanned mobile vehicle, moves to a vicinity of a divot repair target area, and is connected to the mounted unmanned mobile vehicle through short-range wireless communication; and
An analyzing module for detecting divots by analyzing a photographed image of a golf course, a mapping module for displaying the detected divots on a digital map of the golf course, and A management server including a computing module that calculates an optimal repair path to the displayed divot and a communication module that transmits the calculated repair path to the transportation station,
At least two unmanned vehicles are provided,
The computing module of the control server,
Based on the number of divots in the area to be repaired, the amount of sand loaded for each unmanned vehicle, and the battery capacity, smart divot repair characterized in that different repair paths are calculated for each unmanned vehicle so that the same divot is not repeatedly repaired. system. According to claim 7,
The unmanned mobile vehicle,
A container for storing sand for divot repair, an unloader for unloading sand from the container, a GPS module for calculating the current position, and a camera module for starting image capture near the target divot ( camera module), a detecting module for finding the target divot in the captured image, and a driving system to move according to the repair path received from the transportation station and position the unloader on the detected target divot. ) Smart divot maintenance system including a controller for controlling. According to claim 8,
The unmanned mobile vehicle,
and a reporting module for transmitting an identifier of the target divot, which has been repaired, to the control server through the transportation station after sand is unloaded into the target divot. According to claim 8,
The unmanned vehicle is a smart divot repair system, characterized in that the wheel (wheel) based ground mobile vehicle. According to claim 8,
The unmanned vehicle is a smart divot repair system, characterized in that the propeller-based unmanned aerial vehicle. delete In the divot maintenance control method of the management server,
detecting divots by analyzing a captured image of a golf course by an analyzing module;
a mapping module displaying the detected divots on a digital map of the golf course; and
A computing module calculating a repair path from a starting position of an unmanned mobile vehicle for divot repair to the displayed divot,
At least two unmanned vehicles are provided,
The computing module,
Based on the number of divots in the area to be repaired, the amount of sand loaded for each unmanned vehicle, and the battery capacity, different repair paths are calculated for each unmanned vehicle so as not to repeatedly repair the same divot.
Smart divot reward control method. According to claim 13,
The smart divot maintenance control method further comprising transmitting, by a communication module, the calculated repair path to the unmanned mobile vehicle. According to claim 13,
Further comprising transmitting, by a communication module, the calculated maintenance route to a transportation station equipped with the unmanned mobile vehicle;
The smart divot maintenance control method, characterized in that the unmanned mobile vehicle and the transport station are connected by short-distance mobile communication. According to claim 13,
The smart divot maintenance control method, characterized in that the unmanned vehicle is a wheel-based ground mobile vehicle or a propeller-based unmanned aerial vehicle. delete

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